Exoskeleton length adjusting mechanism

Abstract

The utility model discloses an exoskeleton length adjusting mechanism which comprises an exoskeleton lower limb body, the exoskeleton lower limb body comprises a thigh supporting rod, a shank supporting rod, a joint fixing piece and a foot plate, a thigh height adjusting rod is arranged in the thigh supporting rod, and a first limiting plate is arranged at the bottom end of the thigh height adjusting rod. A shank height adjusting rod is arranged in the shank supporting rod, and a third limiting plate is arranged at the bottom end of the shank height adjusting rod. The shank height adjusting rod is arranged in the shank supporting rod, the length of the shank height adjusting rod is adjusted in a thread transmission mode, the thread adjusting mode has a good self-fixing effect, the structure is simple, cost is low, the adjusting method is simple, operation is easier, and in the telescopic adjusting process, the shank height adjusting rod can be adjusted more stably. The length adjusting stability can be guaranteed, meanwhile, the threads have a good anti-loosening effect, and displacement of the shank height adjusting rod is avoided.

Description

Technical Field

[0001] The utility model relates to the field of exoskeleton robots, in particular to an exoskeleton length adjusting mechanism. Background Technique

[0002] Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, integration, and mobile computing, and provides a wearable mechanical mechanism for the operator. It refers to a robot worn outside the human body, also known as a "wearable robot". Future exoskeleton assistance devices can be applied in many aspects, including military, mining, industry, medical, etc. Due to the continuous improvement of human body functions in the future, even far exceeding their own limits, exoskeleton assistance devices will become extremely important and ultimately an essential product.

[0003] In the prior art, there are still certain deficiencies in the use of exoskeleton robots. The length of traditional exoskeleton robots is usually a fixed structure. Due to the different heights of users, when wearing an exoskeleton robot, the length of the thigh or calf does not match the leg length of the patient, resulting in discomfort for the user and inability to adjust the length according to the needs of the user, with a small general range. Content of the Utility Model

[0004] The purpose of the utility model is to provide an exoskeleton length adjusting mechanism to solve the problems in the above background technique that the length of traditional exoskeleton robots is usually a fixed structure. Due to the different heights of users, when wearing an exoskeleton robot, the length of the thigh or calf does not match the leg length of the patient, resulting in discomfort for the user and inability to adjust the length according to the needs of the user, with a small general range.

[0005] To achieve the above purpose, the utility model provides the following technical solution: An exoskeleton length adjusting mechanism includes an exoskeleton lower limb main body. The exoskeleton lower limb main body includes a thigh support rod, a calf support rod, a joint fixing piece, and a foot plate. A thigh height adjusting rod is arranged inside the thigh support rod. A first limiting plate is arranged at the bottom end of the thigh height adjusting rod. A calf height adjusting rod is arranged inside the calf support rod. A third limiting plate is arranged at the bottom end of the calf height adjusting rod. A second limiting plate is arranged at the top end of the calf support rod. A fixing plate is arranged at the upper position inside the calf support rod. A length adjusting screw rod is arranged inside the fixing plate.

[0006] In a further embodiment, the front end of the thigh height adjusting rod and the thigh support rod are slidably connected through an upper positioning chute and an upper positioning slider, and the upper positioning slider and the thigh support rod are fixedly connected through a connecting piece. The two sides of the thigh height adjusting rod and the thigh support rod are fixedly connected through an adjusting buckle and a height adjusting hole.

[0007] In a further embodiment, the first limiting plate and the joint fixing member are connected through a second lower assembly inlay block and an upper assembly inlay groove, and the second lower assembly inlay block and the upper assembly inlay groove are fixedly connected through a first fixing screw.

[0008] In a further embodiment, the second limiting plate and the joint fixing member are connected through a first lower assembly inlay block and a lower assembly inlay groove, and the first lower assembly inlay block and the lower assembly inlay groove are fixedly connected through a second fixing screw.

[0009] In a further embodiment, the top end of the calf height adjustment rod is connected to the calf support rod through an adjustment slider and a length adjustment screw rod. A rotary knob is provided at the top end of the length adjustment screw rod, and the length adjustment screw rod is rotationally connected to the fixing plate. The adjustment slider is fixedly connected to the calf height adjustment rod through a connecting bracket, and both sides of the calf height adjustment rod are slidably connected to the calf support rod through a lower positioning slider and a lower positioning chute.

[0010] In a further embodiment, a locking groove is provided at a position of the lower half inside the calf height adjustment rod. A locking bolt is provided at the bottom of the front end of the calf support rod, and the front end of the calf support rod is fixedly connected to the calf height adjustment rod through the locking bolt and the locking groove. The third limiting plate and the calf height adjustment rod are of an integral structure, and the third limiting plate and the foot plate are fixedly connected through a fixing chuck and a fixing bayonet.

[0011] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0012] 1. In this utility model, a calf height adjustment rod is provided inside the calf support rod, and the length of the calf height adjustment rod is adjusted by means of screw transmission. The adjustment method of the screw has a good self-fixing effect, simple structure, low cost, simple adjustment method, and is easier to operate. During the telescopic adjustment process, the stability of the length adjustment can be ensured. At the same time, the screw has a good anti-loosening effect to prevent the calf height adjustment rod from shifting. A thigh height adjustment rod is provided inside the thigh support rod, enabling both the thigh and calf parts to have the function of length adjustment, which can be adjusted according to the height requirements of the user, increasing the comfort of the user when wearing, and having good versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic structural diagram of an exoskeleton length adjustment mechanism of the present utility model;

[0014] Figure 2 is a schematic structural diagram of the calf support rod of the present utility model;

[0015] Figure 3 is a side view of the calf support rod of the present utility model;

[0016] Figure 4 This is a side view of the thigh support rod of the present utility model.

[0017] In the figure: 1. Exoskeleton lower limb main body; 2. Thigh support rod; 3. Thigh height adjustment rod; 4. Upper positioning sliding groove; 5. Upper positioning slider; 6. Connecting piece; 7. Adjusting buckle; 8. First limiting plate; 9. First fixing screw; 10. Upper assembly inlay groove; 11. Joint fixing piece; 12. Lower assembly inlay groove; 13. Second fixing screw; 14. Second limiting plate; 15. Calf support rod; 16. Calf height adjustment rod; 17. Foot plate; 18. Fixed buckle; 19. First lower assembly inlay block; 20. Rotating screw cap; 21. Fixed plate; 22. Length adjustment screw rod; 23. Adjusting slider; 24. Connecting bracket; 25. Locking groove; 26. Locking bolt; 27. Third limiting plate; 28. Fixed chuck; 29. Lower positioning slider; 30. Lower positioning sliding groove; 31. Second lower assembly inlay block; 32. Height adjustment hole. Specific embodiments

[0018] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0019] Please refer to Figures 1-4 , an embodiment provided by the present utility model: an exoskeleton length adjustment mechanism, including an exoskeleton lower limb main body 1. The exoskeleton lower limb main body 1 includes a thigh support rod 2, a calf support rod 15, a joint fixing piece 11, and a foot plate 17. A thigh height adjustment rod 3 is provided inside the thigh support rod 2. A first limiting plate 8 is provided at the bottom end of the thigh height adjustment rod 3. A calf height adjustment rod 16 is provided inside the calf support rod 15. A third limiting plate 27 is provided at the bottom end of the calf height adjustment rod 16. A second limiting plate 14 is provided at the top end of the calf support rod 15. A fixed plate 21 is provided at the upper position inside the calf support rod 15. A length adjustment screw rod 22 is provided inside the fixed plate 21; the thigh support rod 2 is used to support and fix the thigh part, the calf support rod 15 is used to support and fix the calf part, the joint fixing piece 11 is used to connect the thigh support rod 2 and the calf support rod 15, the foot plate 17 is used to fix the foot position, the thigh height adjustment rod 3 is used to telescopically adjust the length of the thigh support rod 2, the calf height adjustment rod 16 is used to telescopically adjust the length of the calf support rod 15, the fixed plate 21 is used to fix the installation position of the length adjustment screw rod 22, and the length adjustment screw rod 22 is used to adjust the length of the calf height adjustment rod 16.

[0020] The thigh height adjustment rod 3 is slidably connected to the front end of the thigh support rod 2 through an upper positioning chute 4 and an upper positioning slider 5. The upper positioning slider 5 is fixedly connected to the thigh support rod 2 through a connecting piece 6. The two sides of the thigh height adjustment rod 3 and the thigh support rod 2 are fixedly connected through an adjustment buckle 7 and a height adjustment hole 32. The upper positioning slider 5 is used to guide and position the telescopic position of the thigh height adjustment rod 3, and the adjustment buckle 7 is used to fix the adjusted position of the thigh height adjustment rod 3.

[0021] The first limiting plate 8 and the joint fixing piece 11 are connected through a second lower assembly inlay block 31 and an upper assembly inlay groove 10. The second lower assembly inlay block 31 and the upper assembly inlay groove 10 are fixedly connected through a first fixing screw 9. The second lower assembly inlay block 31 is used to assemble and connect the first limiting plate 8 and the joint fixing piece 11.

[0022] The second limiting plate 14 and the joint fixing piece 11 are connected through a first lower assembly inlay block 19 and a lower assembly inlay groove 12. The first lower assembly inlay block 19 and the lower assembly inlay groove 12 are fixedly connected through a second fixing screw 13. The first lower assembly inlay block 19 is used to assemble and connect the second limiting plate 14 and the joint fixing piece 11.

[0023] The top end of the calf height adjustment rod 16 is connected to the calf support rod 15 through an adjustment slider 23 and a length adjustment screw rod 22. A rotary knob 20 is provided at the top end of the length adjustment screw rod 22. The length adjustment screw rod 22 is rotationally connected to a fixing plate 21. The adjustment slider 23 is fixedly connected to the calf height adjustment rod 16 through a connecting bracket 24. The two sides of the calf height adjustment rod 16 and the calf support rod 15 are slidably connected through a lower positioning slider 29 and a lower positioning chute 30. The rotary knob 20 facilitates the rotation operation of the length adjustment screw rod 22 by hand, and the adjustment slider 23 is used to telescopically adjust the calf height adjustment rod 16.

[0024] A locking groove 25 is provided at the lower half position inside the calf height adjustment rod 16. A locking bolt 26 is provided at the bottom of the front end of the calf support rod 15. The front end of the calf support rod 15 and the calf height adjustment rod 16 are fixedly connected through the locking bolt 26 and the locking groove 25. The third limiting plate 27 and the calf height adjustment rod 16 are of an integral structure. The third limiting plate 27 and the foot plate 17 are fixedly connected through a fixing chuck 28 and a fixing bayonet 18. The locking bolt 26 is used to reinforce the telescopic position of the calf height adjustment rod 16.

[0025] Working principle: When in use, according to the height requirement of the user, press the adjustment buckle 7 downward and adjust it to the height adjustment hole 32 at the required position. Adjust the thigh height adjustment rod 3 telescopically to adjust the thigh support rod 2 to the required length. Hold the front and rear end faces of the rotary screw cap 20 and rotate it clockwise to make the length adjustment screw rod 22 rotate, driving the adjustment slider 23 to slide downward, so that the calf height adjustment rod 16 extends and retracts to the required position, and tighten the locking bolt 26 for reinforcement to adjust the calf support rod 15 to the required length, and then wear the lower exoskeleton body 1.

[0026] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-mentioned exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present utility model. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. An exoskeleton length adjustment mechanism, including the main body of the lower exoskeleton limb (1), characterized in that: The exoskeleton lower limb main body (1) includes a thigh support rod (2), a calf support rod (15), a joint fixing member (11), and a foot plate (17). A thigh height adjustment rod (3) is provided inside the thigh support rod (2). A first limit plate (8) is provided at the bottom end of the thigh height adjustment rod (3). A calf height adjustment rod (16) is provided inside the calf support rod (15). A third limit plate (27) is provided at the bottom end of the calf height adjustment rod (16). A second limit plate (14) is provided at the top end of the calf support rod (15). A fixing plate (21) is provided at an upper position inside the calf support rod (15). A length adjustment screw rod (22) is provided inside the fixing plate (21).

2. The exoskeleton length adjustment mechanism according to claim 1, characterized in that: The front end of the thigh height adjustment rod (3) and the thigh support rod (2) are slidably connected through an upper positioning chute (4) and an upper positioning slider (5). The upper positioning slider (5) and the thigh support rod (2) are fixedly connected through a connecting piece (6). The two sides of the thigh height adjustment rod (3) and the thigh support rod (2) are fixedly connected through an adjustment buckle (7) and a height adjustment hole (32).

3. The exoskeleton length adjustment mechanism according to claim 1, wherein: The first limit plate (8) and the joint fixing member (11) are connected through a second lower assembly inlay block (31) and an upper assembly inlay groove (10). The second lower assembly inlay block (31) and the upper assembly inlay groove (10) are fixedly connected through a first fixing screw (9).

4. The length adjustment mechanism of the exoskeleton according to claim 1, characterized in that: The second limit plate (14) and the joint fixing member (11) are connected through a first lower assembly inlay block (19) and a lower assembly inlay groove (12). The first lower assembly inlay block (19) and the lower assembly inlay groove (12) are fixedly connected through a second fixing screw (13).

5. The length adjustment mechanism of the exoskeleton according to claim 1, characterized in that: The top end of the calf height adjustment rod (16) and the calf support rod (15) are connected through an adjustment slider (23) and a length adjustment screw rod (22). A rotary knob (20) is provided at the top end of the length adjustment screw rod (22). The length adjustment screw rod (22) and the fixing plate (21) are rotationally connected. The adjustment slider (23) and the calf height adjustment rod (16) are fixedly connected through a connecting bracket (24). The two sides of the calf height adjustment rod (16) and the calf support rod (15) are slidably connected through a lower positioning slider (29) and a lower positioning chute (30).

6. The exoskeleton length adjustment mechanism according to claim 1, characterized in that: A locking groove (25) is provided at a position of the lower half inside the calf height adjustment rod (16). A locking bolt (26) is provided at the bottom of the front end of the calf support rod (15). The front end of the calf support rod (15) and the calf height adjustment rod (16) are fixedly connected through the locking bolt (26) and the locking groove (25). The third limit plate (27) and the calf height adjustment rod (16) are of an integral structure. The third limit plate (27) and the foot plate (17) are fixedly connected through a fixing chuck (28) and a fixing bayonet (18).

Images